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<a href="sick_8inc.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;define sicksensor sensor</div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;(               </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;  # factory settings <span class="keywordflow">for</span> LMS200 </div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;  range [ 0.0 8.0 ]</div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;    pose [ 0 0 0.1 0 ]</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  fov 180</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  samples 180</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  #samples 90 # still useful but much faster to compute</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  color_rgba [ 0 0 1 0.15 ]</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;)</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;define sickcommon ranger</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;(</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  color <span class="stringliteral">&quot;blue&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; )</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;define sickbase sickcommon</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;(</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    block( points 4</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                 point[0] [0 0]</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                 point[1] [0 1]</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                 point[2] [1 1]</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                 point[3] [1 0]</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                 z [0 0.21]</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                 )</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;)</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor"># extends sicklaser to add nice-looking but relatively expensive geometry</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor"></span>define fancysickbase sickcommon</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;(</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  # bottom</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  block( </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    points 4</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    point[0] [ -0.02 -0.077 ]</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    point[1] [  0.078 -0.077 ]</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    point[2] [  0.078  0.077 ]</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    point[3] [ -0.02  0.077 ]</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    z [0 0.02 ]</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  )</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  # back</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  block(</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    points 4</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    point[0] [ -0.078 -0.077 ]</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    point[1] [ -0.02  -0.077 ]</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    point[2] [ -0.02   0.077 ]</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    point[3] [ -0.078  0.077 ]</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    z [0 0.21 ]</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  )</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  # top</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  block( points 4</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    point[0] [ -0.02 -0.077 ]</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    point[1] [  0.078 -0.077 ]</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    point[2] [  0.078  0.077 ]</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    point[3] [ -0.02  0.077 ]</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    z [0.12 0.21 ]  </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  )</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  # laser bit</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  block( points 4</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    point[0] [ -0.02 -0.05 ]</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;     point[1] [  0.06 -0.05 ]</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;     point[2] [  0.06  0.05 ]</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;     point[3] [ -0.02  0.05 ]</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;     z [0.02 0.12 ]  </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;   color <span class="stringliteral">&quot;gray10&quot;</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  )</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;define sicklaser sickbase ( sicksensor() )</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;define fancysicklaser fancysickbase ( sicksensor() )</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
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